水下平台三维航路多约束多指标规划的蚁群策略研究  

Research on Ant Colony Strategy with Multi-constraint and Multi-response for Three-dimensional Route Planning of Underwater Platforms

作　　者：夏卫星 杨晓东[1] XIA Wei-xing;YANG Xiao-dong(Department of Navigation and Communication,Naval Submarine Academy,Qingdao 266199,Shandong,China)

机构地区：[1]海军潜艇学院航海观通系,山东青岛266199

出　　处：《兵工学报》2018年第9期1795-1803,共9页Acta Armamentarii

基　　金：武器装备军内科研项目(2017年)

摘　　要：为综合考虑各类约束因素和综合性能指标的实际需求,克服传统的单性能(航程)指标优化和地形障碍约束的局限性,从安全性、隐蔽性、快速性角度实现三维海洋环境要素的充分运用,提高三维航路规划算法的有效性和适用性,设计了水下平台三维航路多约束多指标规划的蚁群策略。引入了栅格模型对三维海洋空间环境进行描述;充分考虑了水下平台性能、地形、海洋环境以及任务约束,构建了三维航路蚁群规划策略,设计了多约束启发函数和多指标评价函数;对算法进行了仿真验证。结果表明,该算法充分考虑海洋环境要素影响,基于多约束启发函数和多指标评价函数,通过灵活设定规划系数,实现不同性能指标、不同任务约束的三维航路规划,能够较好地符合水下平台的航行需要。An ant colony strategy for three-dimensional path planning of underwater platforms is designed to improve the effectiveness and applicability of path planning algorithm,overcome the limitations of traditional single performance index optimization and terrain constraint,and realize the full application of three-dimensional marine environmental factors from the aspects of safety,concealment and rapidity.All kinds of constraint factors and performance indexes,such as performance of underwater platform,terrain,marine environment and mission constraints,are considered in the ant colony strategy.The grid model is introduced to describe the three-dimensional marine space,and the multi-constraint heuristic function and multi-index evaluation function are designed.The algorithm is simulated and verified.The result shows that the algorithm fully considers the influence of marine environment,and the three-dimensional navigation planning with different performance indexes and different mission constraints can be realized by setting the planning coefficient flexibly based on multi-constraint heuristic function and multi-index evaluation function,which can better achieve the navigation requirement of underwater platform.

关 键 词：水下平台 三维航路 航路规划 多约束 多指标 蚁群策略 

分 类 号：U674.702[交通运输工程—船舶及航道工程]